Most approaches are model-based in that they explicitly model the ball and robot dynamics. The Omron Forpheus robot [1]} is the current exemplar, achieving impressive results. These methods typically consist of several steps: identifying virtual hitting points from ball trajectories [2]}, [3]}, [4]}, [5]}, [6]}, [7]}, [8]}, [9]}, predicting ball velocities by learning from data [2]}, [11]}, [12]}, [3]} or through a parameterized dynamics models [14]}, [5]}, [6]} calculating target paddle orientations and velocities, and finally generating robot trajectories leading to desired paddle targets [14]}, [18]}, [19]}, [20]}, [21]}, [2]}, [11]}, [12]}, [3]}, [14]}, [18]}, [28]}, [29]}.
